Journal
AUTOMATICA
Volume 50, Issue 7, Pages 1891-1897Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2014.05.007
Keywords
Fault detection and isolation; Fault-tolerant; Control allocation; Unknown input observers; Overactuated systems
Funding
- Methods and mathematical models for industry, at University of Camerino [FAR2011-12]
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This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The proposed approach consists in tuning the observer parameters in order to make the filters decoupled from faults affecting selected groups of actuators or effectors. The control allocation actively uses input redundancy in order to make relevant faults observable. The case study of an overactuated marine vessel supports theoretical developments. (C) 2014 Elsevier Ltd. All rights reserved.
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